Could a bent rim cause a rotor to warp?

 

In a roundabout way. A bent rim would damage to the wheel bearing and the bad wheel bearing can cause warpage. A bad wheel bearing will take some time to cause a warp. The major causes of warpage of the rotor, besides driving habits, are improper mounting (Not cleaning of all the rust so the rotor sits flat), over or under torque of the lug nuts. Next would be cheap rotors that cannot handle the heat.
Last would be too much clearance in the wheel bearing. This forces the brake/rotor to “straighten“ the wheel every time you apply the brakes. Normally speed sensors will set a code in the ABS long before this becomes a major problem.